Switching Control Design For A Class Of Robot Systems

This thesis studies a class of robot systems of two-degree of freedom. Such a system consists of a two-degree of freedom inverted pendulum controlled by two motors. The switching method is used in the design process. The purpose of the design is to expand the initial rotary arm angular and the initial pendulum angular. The control goal is to keep the pendulum in a vertical position. The thesis mainly includes the following several aspects.First of all, the system composition and working principle of the two-degree of freedom robot are analysed. Cartesian coordinate system is established. The nonlinear dynamic model of the robot system is established via the application of Lagrange dynamics principle. For the established nonlinear dynamic model, different linearized models of the pendulum angulars are set up.Second, the controller is designed by the Backstepping method and used in linearized model to keep the pendulum at the vertical position. Then, an integral item in the virtual control of the Backstepping method is added, which leads to the integral Backstepping controller. The controller is applied to the linearized model at zero angular. Then the control effect is analysed.Third, a model error estimator is added in the design of the Backstepping control for the pendulum angular to estimate the external interference. And the adaptive Backstepping controller is achieved. Then the integral item is added to the adaptive Backstepping controller. In the control, the interference is added to the integral adaptive Backstepping controller. The control effect is illustrated through the simulation.Finally, the Backstepping controllers which are designed in different angulars are regarded as subdomain controllers. Then we design three switching controllers using the subdomain controllers, and analyse the effect of the rotary arm angular and the pendulum angular using the three controllers. Moreover the same switching method is applied to design of adaptive Backstepping controller and integral adaptive Backstepping controller respectively. The control effect is analyzed.The conclusions and perspectives are presented in the end of the thesis.